Execution trace

USER(2): :cd /u/robot/ssh+/demo/control
/u/robot/ssh+/demo/control/
USER(3): :ld control
; Fast loading /u/robot/ssh+/demo/control/control.fasl


;;;  To run the CONTROL Demo:
;;;      1.  in LISP: load this file ("control.lisp")
;;;      2.  load the SSH   (load "/u/robot/ssh+/ssh")
;;;      3.  (first time) load the COMMON kb  (load-algy-file "algy-common-kb")
;;;      4.  (load-control-demo)
;;;      5.  start the Flat5 display:  java flat.Flat 1085
;;;      6.  start Flat:               /u/robot/flat-root/flat4/flat_cl /u/robot/flat-root/flat5/env/taylor-level-4.env
;;;      7.  (start-demo :port )
;;;      8.  Activate Lisp Controller (checkbox)
;;;      9.  Press Start on the Flat Control Window
;;;     10.  (demo)
;;;     11.  Move the robot to the Robot Lab.
;;;     12.  (run-control-demo T)
;;;     13.  type: Go from Corner-1 to Elevator-1
;;;     14.  (end-demo)
USER(4): :ld /u/robot/ssh+/ssh
; Fast loading /u/robot/ssh+/ssh.fasl

   ...

USER(5): (load-algy-file "algy-common-kb")
; Fast loading /u/qr/algy3/bins/sun-allegro-5-0/algy-common-kb.fasl

Taxonomy for common things.
Algernon Common KB loaded.
T
USER(6): (load-control-demo)
; Fast loading /u/robot/ssh+/demo/control/parser.fasl

   ...

Tracing is now at level 0.
;   Fast loading /u/robot/ssh+/demo/tour/tour-model.fasl
NIL
USER(7): (start-demo :port 1069)
T
USER(8): (demo)
T
USER(9): (run-control-demo t)

Tracing is now at level 0.
KB cleared
; Fast loading /u/qr/algy3/bins/sun-allegro-5-0/algy-core-kb.fasl

Algernon Core KB loaded.
; Fast loading /u/qr/algy3/bins/sun-allegro-5-0/algy-common-kb.fasl

Taxonomy for common things.
Algernon Common KB loaded.


;;; SSH map information cleared
;;; Reloading SSH KBs.
; Fast loading /u/robot/ssh+/kb/ssh-ontology-kb.fasl
;   Fast loading /u/robot/ssh+/kb/supersede.fasl
;   Fast loading /u/robot/ssh+/kb/ssh-region-kb.fasl
; Fast loading /u/robot/ssh+/kb/common-spatial-kb.fasl

; Loading map from "/u/robot/ssh+/map/taylor-hall-map"
; Loading /u/robot/ssh+/map/taylor-hall-map.lisp

; Loading map from "/u/robot/ssh+/map/taylor-hall-views"
; Loading /u/robot/ssh+/map/taylor-hall-views.lisp
Warning: NAMES->SYMBOL, :OPERATOR was defined in
         /u/eremolin/flat/lisp-interface/public_version/src/utility-functions.lisp and is now
         being defined in /u/robot/ssh+/map/taylor-hall-views.lisp

WORKING-MAP.SCHEMA-12839: < WORKING-MAP.V0  WORKING-MAP.TRAVEL1280812809[6400]  WORKING-MAP.V1 >
WORKING-MAP.SCHEMA-13005: < WORKING-MAP.V1  WORKING-MAP.TURN1297412975[90]  WORKING-MAP.V2 >
WORKING-MAP.SCHEMA-13122: < WORKING-MAP.V2  WORKING-MAP.TRAVEL1309113092[2400]  WORKING-MAP.V3 >
WORKING-MAP.SCHEMA-13288: < WORKING-MAP.V3  WORKING-MAP.TURN1325713258[-90]  WORKING-MAP.V4 >
WORKING-MAP.SCHEMA-13405: < WORKING-MAP.V4  WORKING-MAP.TRAVEL1337413375[1600]  WORKING-MAP.V5 >
WORKING-MAP.SCHEMA-13571: < WORKING-MAP.V5  WORKING-MAP.TURN1354013541[-90]  WORKING-MAP.V6 >
WORKING-MAP.SCHEMA-13688: < WORKING-MAP.V6  WORKING-MAP.TRAVEL1365713658[14450]  WORKING-MAP.V7 >
WORKING-MAP.SCHEMA-13878: < WORKING-MAP.V7  WORKING-MAP.TURN1384713848[180]  WORKING-MAP.V8 >
WORKING-MAP.SCHEMA-13995: < WORKING-MAP.V8  WORKING-MAP.TRAVEL1396413965[14450]  WORKING-MAP.V9 >
WORKING-MAP.SCHEMA-14161: < WORKING-MAP.V9  WORKING-MAP.TURN1413014131[-90]  WORKING-MAP.V5 >
WORKING-MAP.SCHEMA-14333: < WORKING-MAP.V5  WORKING-MAP.TURN1430214303[180]  WORKING-MAP.V10 >
WORKING-MAP.SCHEMA-14462: < WORKING-MAP.V10  WORKING-MAP.TRAVEL1443114432[1600]  WORKING-MAP.V11 >
WORKING-MAP.SCHEMA-14631: < WORKING-MAP.V11  WORKING-MAP.TURN1460014601[90]  WORKING-MAP.V3 >
WORKING-MAP.SCHEMA-14803: < WORKING-MAP.V3  WORKING-MAP.TURN1477214773[180]  WORKING-MAP.V12 >
WORKING-MAP.SCHEMA-14933: < WORKING-MAP.V12  WORKING-MAP.TRAVEL1490214903[2400]  WORKING-MAP.V13 >
WORKING-MAP.SCHEMA-15102: < WORKING-MAP.V13  WORKING-MAP.TURN1507115072[-90]  WORKING-MAP.V1 >
WORKING-MAP.SCHEMA-15293: < WORKING-MAP.V1  WORKING-MAP.TURN1526215263[180]  WORKING-MAP.V14 >
WORKING-MAP.SCHEMA-15422: < WORKING-MAP.V14  WORKING-MAP.TRAVEL1539115392[6400]  WORKING-MAP.V15 >
WORKING-MAP.SCHEMA-15591: < WORKING-MAP.V15  WORKING-MAP.TURN1556015561[180]  WORKING-MAP.V0 >
 Created WORKING-MAP.PATH-15837(+WORKING-MAP.DPATH-7, -WORKING-MAP.DPATH-) (WORKING-MAP.PLACE-12904 WORKING-MAP.PLACE-12780)
 Created WORKING-MAP.PATH-15910(+WORKING-MAP.DPATH-6, -WORKING-MAP.DPATH-1) (WORKING-MAP.PLACE-14527 WORKING-MAP.PLACE-12904)
 Created WORKING-MAP.PATH-16000(+WORKING-MAP.DPATH-5, -WORKING-MAP.DPATH-2) (WORKING-MAP.PLACE-13470 WORKING-MAP.PLACE-13187)
 Created WORKING-MAP.PATH-16066(+WORKING-MAP.DPATH-4, -WORKING-MAP.DPATH-3) (WORKING-MAP.PLACE-13753 WORKING-MAP.PLACE-13470)
 Created WORKING-MAP.PATH-15910(+WORKING-MAP.DPATH-6, -WORKING-MAP.DPATH-1) (WORKING-MAP.PLACE-13187 WORKING-MAP.PLACE-12904)


Wheelchair command? go from corner-1 to elevator-1

You typed: "go from corner-1 to elevator-1"

Parsed command:
   action = :GO
   from   = "CORNER-1"
   to     = "ELEVATOR-1"

Ready to :GO from CORNER-1 to ELEVATOR-1 in WORKING-MAP.LEVEL-4.

plan (V0 V0
      (LW
       (700 :MAX-SPEED 800 :STOP 450 :SAFE 1500 :AWARE 2000 :BFMIN 300 :BFMAX 8000 :MAX-ERROR
        800 :MAX-ROTATIONAL-SPEED 45 :MAX-TURN-ANGLE 60))
      V1 V2 (GO-FORWARD-DISTANCE (2400)) V3 V4 (GO-FORWARD-DISTANCE (1600)) V5 V6
      (FOLLOW-CORRIDOR-DISTANCE (14450)) V7 V7) 
places (CORNER-1 CORNER-2 DOOR-1 DOOR-2 ELEVATOR-1)
PLAN: (V0
       (LW
        (700 :MAX-SPEED 800 :STOP 450 :SAFE 1500 :AWARE 2000 :BFMIN 300 :BFMAX 8000 :MAX-ERROR
         800 :MAX-ROTATIONAL-SPEED 45 :MAX-TURN-ANGLE 60))
       V1 (TURN-ANGLE (90)) V2 (GO-FORWARD-DISTANCE (2400)) V3 (TURN-ANGLE (-90)) V4
       (GO-FORWARD-DISTANCE (1600)) V5 (TURN-ANGLE (-90)) V6 (FOLLOW-CORRIDOR-DISTANCE (14450))
       V7)

 I am preparing to (LW
                    (700 :MAX-SPEED 800 :STOP 450 :SAFE 1500 :AWARE 2000 :BFMIN 300 :BFMAX 8000
                     :MAX-ERROR 800 :MAX-ROTATIONAL-SPEED 45 :MAX-TURN-ANGLE 60))
   Expected view: V0 

 >> What is the current view? v0

   Actual view: V0 

 I am preparing to (TURN-ANGLE (90))
   Expected view: V1 

 >> What is the current view? v1

   Actual view: V1 

 I am preparing to (GO-FORWARD-DISTANCE (2400))
   Expected view: V2 

 >> What is the current view? v2

   Actual view: V2 

 I am preparing to (TURN-ANGLE (-90))
   Expected view: V3 

 >> What is the current view? v3

   Actual view: V3 

 I am preparing to (GO-FORWARD-DISTANCE (1600))
   Expected view: V4 

 >> What is the current view? v4

   Actual view: V4 

 I am preparing to (TURN-ANGLE (-90))
   Expected view: V5 

 >> What is the current view? v5

   Actual view: V5 

 I am preparing to (FOLLOW-CORRIDOR-DISTANCE (14450))
   Expected view: V6 

 >> What is the current view? v6

   Actual view: V6 
   Expected view: V7 

 >> What is the current view? v7

   Actual view: V7 
plan has been executed
NIL 


Wheelchair command? q
NIL
USER(14): (end-demo)
NIL

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